PROBLEM TO BE SOLVED: To provide a balance trainer using an inverted two-wheel type movable body for changing control gain for inversion control of the inverted two-wheel type movable body based on capacity of an occupant and the existence of an obstacle.SOLUTION: The present invention is a balance trainer 80 using an inverted two-wheel type movable body 10, and comprises a driving part 90 for driving wheels 2R and 2L possessed by the inverted two-wheel type movable body 10, a control part 91 for controlling the driving part 90, occupant state estimation means 92 for estimating a get-in state of an occupant and an improvement degree of training based on a monitoring result by monitoring a driving state of the driving part 90, allowable movement range determination means 93 for determining an allowable movement range of the inverted two-wheel type movable body 10 based on the get-in state and the improvement degree estimated by the occupant state estimation means 92 and obstacle detection means 94 for detecting a peripheral obstacle of the inverted two-wheel type movable body 10, and the control part 91 changes control gain for inversion control based on the existence of obstacle in an allowable movement range determined by the allowable movement range determination means 93.SELECTED DRAWING: Figure 2
【課題】搭乗者の能力および障害物の有無に基づいて倒立二輪型移動体の倒立制御のための制御ゲインを変更する、倒立二輪型移動体を用いたバランス訓練機を提供すること。【解決手段】本発明は、倒立二輪型移動体10を用いたバランス訓練機80であって、倒立二輪型移動体10が有する車輪2R,2Lを駆動する駆動部90と、駆動部90を制御する制御部91と、駆動部90の駆動状態を監視し、監視結果に基づいて搭乗者の乗車状態および訓練の改善度を推定する搭乗者状態推定手段92と、搭乗者状態推定手段92が推定した乗車状態および改善度に基づいて倒立二輪型移動体10の許容移動範囲を決定する許容移動範囲決定手段93と、倒立二輪型移動体10周辺の障害物を検出する障害物検出手段94と、を備え、制御部91は、許容移動範囲決定手段93が決定した許容移動範囲内の障害物の有無に基づいて倒立制御のための制御ゲインを変更する。【選択図】図2
BALANCE TRAINER
バランス訓練機
12.05.2016
Patent
Elektronische Ressource
Japanisch
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